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Publications

These publications were generated in support of the SubT Challenge by DARPA or performers.

  1. Chung, T.H., & Orekhov, V. & Maio, A. (2023). Into the Robotic Depths: Analysis and Insights from the DARPA Subterranean Challenge. Annual Review of Control, Robotics, and Autonomous Systems, 6. https://doi.org/10.1146/annurev-control-062722-100728

  2. Orekhov, V., Maio, A., Daniel, R., & Chung, T. (2023). Inspiring Field Robotics Advances through the Design of the DARPA Subterranean Challenge. Field Robotics, 3, 560–604. https://doi.org/10.55417/fr.2023018

  3. Orekhov, V. L., & Chung, T. H. (2022). The DARPA Subterranean Challenge: A synopsis of the Circuits Stage. Field Robotics, 2, 735–747. https://doi.org/10.55417/fr.2022024

  4. Rogers, John & Gregory, Jason & Fink, Jonathan & Stump, Ethan. (2020). Test Your SLAM! The SubT-Tunnel dataset and metric for mapping. 955-961. 10.1109/ICRA40945.2020.9197156.

  5. Rogers J.G. et al. (2021) The DARPA SubT Urban Circuit Mapping Dataset and Evaluation Metric. In: Siciliano B., Laschi C., Khatib O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_35

Team CERBERUS

Robots & Control: ANYmal

  1. M. Hutter, C. Gehring, D. Jud, A. Lauber, C.D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, R. Diethelm, S. Bachmann, A. Melzer, and M. Hoepflinger,”Anymal-a highly mobile and dynamic quadrupedal robot.,” In 2016 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 38-44). IEEE.

  2. T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning robust perceptive locomotion for quadrupedal robots in the wild,” Science Robotics, 2022. https://www.science.org/doi/abs/10.1126/scirobotics.abk2822

Robots & Control: Aerial Robots

  1. De Petris, Paolo & Nguyen, Huan & Dharmadhikari, Mihir & Kulkarni, Mihir & Khedekar, Nikhil & Mascarich, Frank & Alexis, Kostas, "RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration" (Accepted - Pending Publication) IEEE International Conference on Unmanned Aerial Systems 2022.

  2. P. De Petris, H. Nguyen, M. Kulkarni, F. Mascarich, and K. Alexis, "Resilient Collision-tolerant Navigation in Confined Environments," IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, 2021, Xi'an, China

  3. T. Dang, F. Mascarich, S. Khattak, H. Nguyen, N. Khedekar, C. Papachristos, and K. Alexis, "Field-hardened Robotic Autonomy for Subterranean Exploration," Conference on Field and Service Robotics (FSR), 2019, Aug. 29-31, Tokyo, Japan

  4. M. Kamel, T. Stastny, K. Alexis, R. Siegwart, "Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using ROS," Springer Book on Robot Operating System (ROS) –The Complete Reference (Volume 2)

Perception: Onboard Localization and Mapping

  1. S. Khattak, D. H. Nguyen, F. Mascarich, T. Dang, and K. Alexis, "Complementary Multi–Modal Sensor Fusion for Resilient Robot Pose Estimation in Subterranean Environments," International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020

  2. S. Khattak, F. Mascarich, T. Dang, C. Papachristos, K. Alexis, "Robust Thermal-Inertial Localization for Aerial Robots: A Case for Direct Methods," International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Atlanta, GA, USA

  3. M. Bloesch, S. Omari, M. Hutter, and R. Siegwart, “Robust visual inertial odometry using a direct EKF-based approach,” In 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 298-304). IEEE.

  4. M. Bloesch, M. Burri, H. Sommer, R. Siegwart, and M. Hutter, "The two-state implicit filter recursive estimation for mobile robots," IEEE Robotics and Automation Letters 3, no. 1 (2017): 573-580.

Perception: Volumetric Mapping

  1. H. Oleynikova, Z. Taylor, M. Fehr, R. Siegwart, and J. Nieto, “Voxblox: Incremental 3d euclidean signed distance fields for on-board mavplanning,” In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1366-1373). IEEE.

  2. V. Reijgwart, A. Millane, H. Oleynikova, R. Siegwart, C. Cadena, and J. Nieto, “Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps,” IEEE Robotics and Automation Letters. 2019 Nov 18;5(1):227-34.

Perception: Terrain Mapping

  1. P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, M. and R. Siegwart, “Robot-centric elevation mapping with uncertainty estimates,” In Mobile Service Robotics (pp. 433-440).

  2. T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger, and M. Hutter, "Elevation mapping for locomotion and navigation using gpu", Submitted to 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Perception: Multi-Robot Mapping

  1. T. Schneider, M. Dymczyk, M. Fehr, K. Egger, S. Lynen, I. Gilitschenski, and R. Siegwart. "maplab: An open framework for research in visual-inertial mapping and localization," IEEE Robotics and Automation Letters 3, no. 3 (2018): 1418-1425.

Perception: Artifacts Detection and Localization

  1. T. Dang, F. Mascarich, S. Khattak, D. H. Nguyen, N. Khedekar, S. Hirsh, R. Reinhart, C. Papachristos, and K. Alexis, "Autonomous Search for Underground Mine Rescue Using Aerial Robots," IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 7-14, 2020

Path Planning: Autonomous Exploration

  1. M. Kulkarni, M. Dharmadhikari, M. Tranzatto, S. Zimmermann, V. Reijgwart, P. De Petris, H. Nguyen, N. Khedekar, C. Papachristos, L. Ott, R. Siegwart, M. Hutter, and K. Alexis, “Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots,” (Accepted: Pending Publication) 2022 IEEE International Conference on Robotics and Automation (ICRA).

  2. T. Dang, M. Tranzatto, S. Khattak, F. Mascarich, K. Alexis, M. Hutter, "Graph-based Subterranean Exploration Path Planning using Aerial and Legged Robots," Journal of Field Robotics, November, 2020, https://doi.org/10.1002/rob.21993, Open-Source Git Repo: https://github.com/unr-arl/gbplanner_ros

  3. M. Dharmadhikari, H. Deshpande, T. Dang, and K. Alexis, "Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search," IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, 2021, Xi'an, China

  4. L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart, and C. Cadena. "A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift," IEEE Robotics and Automation Letters 6, no. 3 (2021): 4504-4511

Path Planning: Legged Robot Navigation Planning

  1. L. Wellhausen, and M. Hutter, “Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning,” 2021 IEEE/RSJ International Conference on intelligent robots and systems (IROS 2021), September 27-October 1, 2021, Prague, Czech Republic, Open-Source Git Repo: https://github.com/leggedrobotics/art_planner

  2. B. Yang, L. Wellhausen, T. Miki, M. Liu, M. Hutter -“Real-time Optimal Navigation Planning Using Learned Motion Costs”, IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, 2021, Xi'an, China

  3. L. Wellhausen, and M. Hutter, "Artplanner: Robust legged robot navigation in the field", Submitted to Field Robotics.

Systems Papers

  1. M. Tranzatto, T. Miki, M. Dharmadhikari, L. Bernreiter, M. Kulkarni, F. Mascarich, O. Andersson, S. Khattak, M. Hutter, R. Siegwart, K. Alexis, "CERBERUS in the DARPA Subterranean Challenge", Science Robotics 7 (2022). https://doi.org/10.1126/scirobotics.abp9742

  2. M. Tranzatto, F. Mascarich, L. Bernreiter, C. Godinho, M. Camurri, S. Khattak, T. Dang, V. Reijgwart, J. Loje, D. Wisth, S. Zimmermann, H. Nguyen, M. Fehr, L. Solanka, R. Buchanan, M. Bjelonic, N. Khedekar, M. Valceschini, F. Jenelten, M. Dharmadhikari, T. Homberger, P. De Petris, L. Wellhausen, M. Kulkarni, T. Miki, S.Hirsch, M. Montenegro, C. Papachristos, F. Tresoldi, J. Carius, G. Valsecchi, J. Lee, K. Meyer, X. Wu, J. Nieto, A. Smith, M. Hutter, R. Siegwart, M. Mueller, Ma. Fallon, K. Alexis, "CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge", Field Robotics, 274–324 (2022). https://doi.org/10.48550/arXiv.2201.07067

  3. C. D. Bellicoso, M. Bjelonic, L. Wellhausen, K. Holtmann, F. Günther, M. Tranzatto, P. Fankhauser, M. Hutter, “Advances in real-world applications for legged robots”, Journal of Field Robotics, December 2018, pp. 1311-1326.

Team CoSTAR

  1. "NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge," Accepted for publication in the Journal of Field Robotics, 2021. PDF

  2. "Autonomous Spot: Long-range Autonomous Exploration of Extreme Environments with Legged Locomotion," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020. Best Paper Award on Safety, Security, and Rescue Robotics. PDF, Video

  3. "Deep Learning Tubes for Tube MPC," Robotics: Science and Systems (RSS), Corvallis, USA, 2020. PDF

  4. “Confidence-rich 3D Grid Mapping,” International Journal of Robotics Research (IJRR), vol.38, pp.1352-1374, 2019. PDF

  5. "Autonomous Navigation of Drones,” The International Symposium on Robotics Research (ISRR). Hanoi, Vietnam, 2019. PDF

  6. “Bi-directional Value Learning for Risk-aware Planning Under Uncertainty,” IEEE Robotics and Automation Letters (RA-L), vol.4, no.3, pp.2493-2500, March, 2019. PDF

  7. "LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments," IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. PDF

  8. "LOCUS - LiDAR Odometry for Consistent Operation in Uncertain Settings", IEEE Robotics and Automation Letters (RA-L). 2020. PDF, Video

  9. “Contact Inertial Odometry: Collisions are your Friend,” The International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, 2019. PDF

Team CSIRO Data61

  1. T. Hines et al., "Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 4048-4055, April 2021. https://doi.org/10.1109/LRA.2021.3065302

  2. J. Williams et al., "Online 3D Frontier-Based UGV and UAV Exploration Using Direct Point Cloud Visibility," 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2020, pp. 263-270. https://doi.org/10.1109/MFI49285.2020.9235268

  3. Hudson, Nicolas, et al. "Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge." arXiv preprint arXiv:2104.09053 (2021). https://arxiv.org/abs/2104.09053

  4. Tidd, Brendan, et al. "Passing through narrow gaps with deep reinforcement learning." 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021. https://arxiv.org/abs/2103.03991

  5. Steindl, Ryan, et al. "Bruce--Design and Development of a Dynamic Hexapod Robot." arXiv preprint arXiv:2011.00523 (2020). https://arxiv.org/abs/2011.00523

Team CTU-CRAS-NORLAB

Tunnel Circuit System Paper

Rouček T. et al. (2020) DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments. In: Mazal J., Fagiolini A., Vasik P. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2019. Lecture Notes in Computer Science, vol 11995. Springer, Cham. https://doi.org/10.1007/978-3-030-43890-6_22

Tunnel and Urban Circuit System Paper

Rouček T. et al. (2021) System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Accepted to Field Robotics. https://arxiv.org/abs/2110.05911

MRS UAV System

Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. http://dx.doi.org/10.1007/s10846-021-01383-5

Tunnel Circuit UAV Approach

Matej Petrlik, Tomas Baca, Daniel Hert, Matous Vrba, Tomas Krajnik and Martin Saska. A Robust UAV System for Operations in a Constrained Environment. IEEE Robotics and Automation Letters 5(2):2169-2176, April 2020. http://dx.doi.org/10.1109/LRA.2020.2970980

Urban Circuit UAV Approach

Vit Kratky, Pavel Petracek, Tomas Baca and Martin Saska. An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments. Journal of Field Robotics, pages 1-24, May 2021. http://dx.doi.org/https://doi.org/10.1002/rob.22021

Preparation for Cave Circuit UAV Approach

Pavel Petracek, Vit Kratky, Matej Petrlik, Tomas Baca, Radim Kratochvil and Martin Saska. Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7596-7603, October 2021. http://dx.doi.org/10.1109/LRA.2021.3098304

Team MARBLE

  1. M. T. Ohradzansky, A. B. Mills, E. R. Rush, D. G. Riley, E. W. Frew and J. Sean Humbert, "Reactive Control and Metric-Topological Planning for Exploration," 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 4073-4079, doi: 10.1109/ICRA40945.2020.9197381.

  2. S. Bateman, K. Harlow and C. Heckman, "Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 4878-4885, doi: 10.1109/IROS45743.2020.9341789.

  3. M. T. Ohradzansky, et al., Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration, Field Robots Journal, Special Edition, 2021.

  4. D. Riley and E. Frew, “Assessment of Coordinated Heterogeneous Exploration of Complex Environments” in Conference on ControlTechnology and Applications (CCTA) 2021.

  5. S. Ahmad, A. B. Mills, E. R. Rush, E. Frew, J. S. Humbert, “3D Reactive Control and Frontier-Based Exploration for Unstructured Environments”, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

  6. S. Ahmad, Z. N. Sunberg, J. S. Humbert, “APF-PF: Probabilistic Depth Perception for 3D Reactive Obstacle Avoidance," in 2021 American ControlConference, 2021, p. 32-39.

  7. S. Ahmad, Z. N. Sunberg, J. S. Humbert, “End-to-End Probabilistic Depth Perception and 3D Obstacle Avoidance," in Journal of Intelligent and Robotic Systems, 2021, under review.

  8. A. Kramer, K. Harlow, C. Williams, C. Heckman, “ColoRadar: The Direct 3D Millimeter Wave Radar Dataset,” The International Journal of Robotics Research, 2021. https://arpg.github.io/coloradar/